#
# Qwerk control message used to control the motors
#

# Constants:

# special invalid value (= max int 32)
int32 INVALID_VALUE = 20000000

# Absolute position request (in TICKS)
# This is the position to reach. 
# If INVALID_VALUE and velocity is not 0, this means don't care of position
# (i.e. speed control) 
# If valid position, then velocity is used to control the speed to reach the given 
# position.
int32[4] motorPositions

# Speed request (in TICKS/s)
# If <0 move backward, if >0 move forward, if 0 stop.
# If INVALID_VALUE, ignore motor (i.e. don't do anything for this one)
int32[4] motorVelocities
